Stoiber, Manuel und Elsayed, Mariam und Reichert, Anne Elisabeth und Steidle, Florian und Lee, Dongheui und Triebel, Rudolph (2023) Fusing Visual Appearance and Geometry for Multi-modality 6DoF Object Tracking. In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023. IEEE. IEEE/RSJ International Conference on Intelligent Robots (IROS) 2023, 2023-10-01 - 2023-10-05, Detroit, IL, USA. doi: 10.1109/IROS55552.2023.10341961. ISBN 978-166549190-7. ISSN 2153-0858.
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Offizielle URL: https://ieeexplore.ieee.org/document/10341961
Kurzfassung
In many applications of advanced robotic manipulation, six degrees of freedom (6DoF) object pose estimates are continuously required. In this work, we develop a multi-modality tracker that fuses information from visual appearance and geometry to estimate object poses. The algorithm extends our previous method ICG, which uses geometry, to additionally consider surface appearance. In general, object surfaces contain local characteristics from text, graphics, and patterns, as well as global differences from distinct materials and colors. To incorporate this visual information, two modalities are developed. For local characteristics, keypoint features are used to minimize distances between points from keyframes and the current image. For global differences, a novel region approach is developed that considers multiple regions on the object surface. In addition, it allows the modeling of external geometries. Experiments on the YCB-Video and OPT datasets demonstrate that our approach ICG+ performs best on both datasets, outperforming both conventional and deep learning-based methods. At the same time, the algorithm is highly efficient and runs at more than 300 Hz. The source code of our tracker is publicly available.
elib-URL des Eintrags: | https://elib.dlr.de/195723/ | ||||||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||||||
Titel: | Fusing Visual Appearance and Geometry for Multi-modality 6DoF Object Tracking | ||||||||||||||||||||||||||||
Autoren: |
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Datum: | 2023 | ||||||||||||||||||||||||||||
Erschienen in: | 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023 | ||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||||||
DOI: | 10.1109/IROS55552.2023.10341961 | ||||||||||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||||||||||
ISSN: | 2153-0858 | ||||||||||||||||||||||||||||
ISBN: | 978-166549190-7 | ||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||
Stichwörter: | object tracking; | ||||||||||||||||||||||||||||
Veranstaltungstitel: | IEEE/RSJ International Conference on Intelligent Robots (IROS) 2023 | ||||||||||||||||||||||||||||
Veranstaltungsort: | Detroit, IL, USA | ||||||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||||||
Veranstaltungsbeginn: | 1 Oktober 2023 | ||||||||||||||||||||||||||||
Veranstaltungsende: | 5 Oktober 2023 | ||||||||||||||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Multisensorielle Weltmodellierung (RM) [RO] | ||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Perzeption und Kognition Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||||||||||
Hinterlegt von: | Strobl, Dr. Klaus H. | ||||||||||||||||||||||||||||
Hinterlegt am: | 03 Jul 2023 08:34 | ||||||||||||||||||||||||||||
Letzte Änderung: | 09 Jul 2024 13:59 |
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